Design and implementation of time efficient trajectories for autonomous underwater vehicles

This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle.     

Optimal Matching Analysis of Net Buoyancy and Pitching Angle for Underwater Gliders

Control parameter optimization is an efficient way to improve the endurance of underwater gliders (UGs), which influences their gliding efficiency and energy consumption. This paper analyzes the optimal matching between the net buoyancy and the pitching angle and proposes a segmented control strategy of Petrel-L. The optimization of this strategy is established based on the gliding range model of UG, which is solved based on the approximate model, and the variations of the optimal control parameters with the hotel load are obtained. The optimization results indicate that the segmented control strategy can significantly increase the gliding range when the optimal matching between the net buoyancy and the pitching angle is reached, and the increase rate is influenced by the hotel load. The gliding range of the underwater glider can be increased by 10.47% at a hotel load of 0.5 W. The optimal matching analysis adopted in this study can be applied to other UGs to realize endurance improvement.

     

鹰式一号波浪能装置频域运动分析与优化设计

波浪能发电装置的波能转换通常分为两级能量转换:第一级能量转换是波浪作用下波浪能装置部件发生相对运动驱动PTO做功捕获波浪能;第二级能量转换为将捕获的波浪能转换为电能。其中一级波浪能转换系统的优化设计是提高波浪能装置能量转换效率的重要手段和关键技术。波浪作用下波浪能装置的运动与PTO做功运动相互耦合和影响,本文通过对不同波浪要素环境下、不同PTO阻尼下波浪能装置的频域运动模拟,以迎波宽度比为尺度对波浪能装置的一级能量转换系统进行优化设计,获得波浪能装置的最优做功阻尼,为实型装置负载加载设计提供设计依据,提高波浪能装置能量转化效率。鹰式一号波浪能装置的实海况运动证明,通过对一级能量转换系统的优化设计,能够有效提高装置的发电效率和提高装置对波浪响应频带宽度。     

受扰线性系统的前馈-反馈最优控制

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。     

Multiple-Step Predictive Control for Offshore Structures

—Ocean wave propagation is slow,visible and measurable,so a wave theory can be used to approxi-mately predict the imminnent wave force on an offshore structure based on measured,real-time wave elevation nearthe structure.This predictability suggests the development of a more efficient algorithm,than those that have beendeveloped for structures under wind and seismic loads,for the active vibration control of offshore structures.Thepresent study delveops a mutiple-step predictive optimal control(MPOC)algorithm that accounts for multiple-step external loading in the determibation of optimal control forces.The control efficiency of the newly developedMPOC algorithm has been investigated under both regular(single-frequency)and irregular(multiple-frequency)wave loads,and compared with that of two other well-known optimal control algorithms:classical linear optimalcontrol(CLOC)and instantaneou optimal control(IOC).     

随机波浪作用下海洋平台主动控制的时滞补偿研究

基于预测控制理论，研究了适用于海洋平台的时滞补偿控制算法。该方法借助于随机波浪力的近似公式和卡尔曼滤波原理，推导出了随机波浪力向前一步预测公式，同时采用卡尔曼滤波方程，实现了对状态向量向前一步预测。利用随机波浪力及状态向量的实时在线预测公式，推导出最优控制力向前一步预测的表达式。在此基础上，发展了不仅适用于反馈控制系统而且适用于前馈-反馈控制系统的时滞补偿算法。采用一典型海洋平台为数值算例，计算结果表明，该方法在一定时滞范围内对海洋平台主动控制中时滞的补偿效果是显著的。     

Evolving laws of human cooperative behaviour

In this study, we improve Lévy walk model, and make it suitable for simulating the collective behaviours of humans. Here we show how rescuers find missing persons by collective cooperative search in a natural background. In the search process, the search strategy represents an optimal algorithm which is used to maximize the success rates for finding missing persons. We simulate the rescuer's movement pattern, and find some basic laws governing the rescuer's cooperative search. For example, the probability that each rescuer finds missing persons shows a power law distribution.     

端口受控哈密顿方法的电力双推进无人船航向航速控制

以电力双推进无人船航速航向控制为主要研究问题,使用永磁同步电机作为无人船螺旋桨的驱动电机,采用基于端口受控哈密顿(PCH)方法,有效的降低了系统损耗,使无人船驱动系统输出功率得到了优化。仿真结果表明,系统能较快达到稳定状态,实现了无人船的速度控制要求,提升了无人船系统的续航能力。     

Tracking control for underwater vehicle-manipulator systems withvelocity estimation

In this paper, the problem of tracking a desired motion trajectory for an underwater vehicle-manipulator system without using direct velocity feedback is addressed. For this purpose, an observer is adopted to provide estimation of the system's velocity needed by a tracking control law. The combined controller-observer scheme is designed so as to achieve exponential convergence to zero of both motion tracking and estimation errors. In order to avoid representation singularities of the orientation, unit quaternions are used to express the vehicle attitude. Implementation issues are also considered and simplified control laws are suggested, aimed at suitably trading off tracking performance against reduced computational load. Simulation case studies are carried out to show the effectiveness of the proposed controller-observer algorithm. The obtained performance is compared to that achieved with a control scheme in which the velocity is reconstructed via numerical differentiation of position measurements. The results confirm that the chattering on the control commands is significantly reduced when the controller-observer strategy is adopted in lieu of raw numerical differentiation; this leads to lower energy consumption at the actuators and increases their lifetime     

叠后烃检方法在渤海海域PL稠油区块的应用

针对渤海海域PL油田新近系明化镇组原油密度大,常规叠后烃检方法效果不佳的特点,利用储层含油气后高频端能量吸收衰减原理,在高精度频谱分解基础上,采用能量系数法和高频斜率衰减地震属性预测油气,效果一般;结合研究区地质特点,以神经网络多种成熟算法为基础算法,优选对油水有不同响应的地震属性作为训练参数,以含油饱和度曲线作为目标曲线,对全区地震数据体进行反演,用验证井与饱和度数据体有效响应比对,主力油层含油砂体吻合率高达75％以上.利用该方法结合其它成藏条件优选了显示很好的多套砂体作为进一步勘探潜力靶区.     

具有小时滞的线性系统次优控制的无滞后转换法

该文研究线性时滞定常系统的次优控制问题。根据无滞后转换法的思想 ,先引入状态向量的增量 ,将其视为附加扰动输入 ,再利用微分方程的逐次逼近法 ,将既含有时滞项又含有超前项的两点边值问题化为既不含时滞项又不含超前项的两点边值问题族。然后 ,把第 N次逼近得到的控制律近似为系统的最优控制律 ,得到次优控制律。并用实例仿真验证了该算法的有效性。该方法可使小时滞系统的迭代次数大大减少 ,因此尤其适合于小时滞系统的次优控制。     

Optimisation of wave energy extraction with the Archimedes Wave Swing

This paper addresses the Archimedes Wave Swing (an offshore wave energy converter, which produces electricity from sea waves). It compares the performances of latching control (a discrete, highly non-linear, intrinsically sub-optimum control strategy), of reactive control, of phase and amplitude control (two optimum control strategies that involve non-causal transfer functions, which have to be implemented with approximations, thus rending the control sub-optimum), and of feedback linearisation control (a non-linear control strategy). From extensive simulations it is concluded that the latter performs clearly better irrespective of the sea state, and leads to a significant increase of absorbed wave power.     

Stochastic control of wave energy converters for optimal power absorption with constrained control force

This paper presents an analytical solution derived for optimal control of the power take-off of a single-degree of freedom heave point absorber with constraints on the control force. The optimal control law turns out to be noncausal with a functional dependence on future velocities. To handle this problem, an algorithm for predicting future velocities is derived. Based on the solution the mean (time-averaged) absorbed power in a given sea-state is calculated. The performance of the indicated controller in terms of the mean absorbed power is close to the optimal value obtained by nonlinear programming and better than a controller with feedback from the present displacement, velocity and acceleration, and with optimized gain factors.     

基于遗传算法的缓波型立管多目标集成优化

缓波型立管由于设计参数较多且优化目标之间相互影响,设计结果具有很大的不确定性。随着代理模型和智能优化算法的发展,针对缓波型立管的优化可以提出更好的解决方案。以提高力学性能和经济效益为优化目标,采用基于Kriging插值模型和NSGA-II算法的多目标优化策略,对考虑顶部浮体影响的深水缓波型立管进行动力响应分析,并开展线型—截面双目标优化集成设计和线型—浮筒三目标优化集成设计。将处于不同几何尺度的设计变量进行集成,旨在各目标存在相互竞争的情况下,与截面、浮筒设计形成有效互动以提高线型设计的总体性能。结果表明,Pareto最优解集可提供多个选择方案,以满足工程实际需要。将所选最优方案与初始设计进行对比,并以疲劳性能和成本估算作为优化的校核指标,取得了理想的优化效果。     

Designing future underwater vehicles: principles and mechanisms of the weakly electric fish

Future underwater vehicles will be increasingly called upon to work in cluttered environments and to interact with their surroundings. These vehicles will need sensors that work efficiently at short range and be highly maneuverable at low speed. To obtain insights into principles and mechanisms of low-speed operation in cluttered environments, we examine a fish that excels in this regime, the black ghost knifefish Apteronotus albifrons. This fish hunts in dark or turbid water using a short-range self-generated electric field to sense its surroundings. Coupled with this unique mode of sensing is an unusual ribbon fin propulsion system that confers high multidirectional maneuverability at low speeds. To better understand the relationship between body morphology and common maneuvers of this fish, we utilized an idealized ellipsoidal body model, Kirchhoff's equations, and an optimal control algorithm for generating trajectories. We present evidence that common fish trajectories are optimal, and that these trajectories complement the sensory abilities of the fish. We also discuss prototypes of the sensing and propulsion systems of the fish with a view to providing alternative approaches for underwater vehicle design where high maneuverability in geometrically complex environments is needed.     

海洋平台磁流变阻尼器控制技术研究

为了更有效地减小海洋平台动力响应,采用基于模糊控制算法的磁流变阻尼器对海洋平台的振动进行控制.以海洋平台位移响应误差和误差变化为输入变量,以最优控制力为输出变量,优化设计出模糊控制器.考虑实际磁流变阻尼器输出控制力上限存在限制,采用半主动控制算法计算接近于最优控制力的半主动控制力.以一固定式海洋平台为算例研究磁流变阻尼器的振动控制效果及其模糊性,仿真结果表明模糊磁流变控制器对于平台的振动可以实现非常有效的控制,且控制效果对结构阻尼和环境的不确定性具有较好的模糊性.     

Precoding Based Channel Prediction for Underwater Acoustic OFDM

The life duration of underwater cooperative network has been the hot topic in recent years. And the problem of node energy consuming is the key technology to maintain the energy balance among all nodes. To ensure energy efficiency of some special nodes and obtain a longer lifetime of the underwater cooperative network, this paper focuses on adopting precoding strategy to preprocess the signal at the transmitter and simplify the receiver structure. Meanwhile, it takes into account the presence of Doppler shifts and long feedback transmission delay in an underwater acoustic communication system. Precoding technique is applied based on channel prediction to realize energy saving and improve system performance. Different precoding methods are compared. Simulated results and experimental results show that the proposed scheme has a better performance, and it can provide a simple receiver and realize energy saving for some special nodes in a cooperative communication.     

基于能耗最优的TLP张力腿水下无线监测组网方法研究

张力腿作为张力腿平台(tension leg platform,简称TLP)的重要组成部分,服役水深大,动力学行为复杂多样。为了保障张力腿的结构安全,开展张力腿的水下全方位监测十分必要。文中以某TLP为依托,构建一套能耗最优的张力腿监测系统。首先,利用附加质量法对张力腿进行湿模态分析,结合有效独立法与模态置信度准则确定张力腿监测节点的具体布设方案;其次,以能耗最低为优化目标,基于遗传算法建立了水下无线组网监测方案,同时讨论了监测节点存在失效时监测数据传输路径改变方案;最终,得到一套能耗最优的TLP张力腿水下无线组网监测方法,以降低水下监测系统维护成本。     

An improved particle swarm optimization algorithm with harmony strategy for the location of critical slip surface of slopes

The determination of optimal values for three parameters required in the original particle swarm optimization algorithm is very difficult.It is proposed that two new parameters simulating the harmony search strategy can be adopted instead of the three parameters which are required in the original particle swarm optimization algorithm to update the positions of all the particles.The improved particle swarm optimization is used in the location of the critical slip surface of soil slope,and it is found that the improved particle swarm optimization algorithm is insensitive to the two parameters while the original particle swarm optimization algorithm can be sensitive to its three parameters.     

含确定扰动的线性离散时滞系统的前馈-反馈最优控制

研究在外界持续干扰的动态特征已知的情况下,线性离散时滞系统的前馈-反馈最优控制问题。给出了前馈-反馈最优控制存在的唯一性条件,提出了前馈-反馈最优控制律的逐次逼近算法;通过截取最优控制序列解的有限项,得到系统的前馈-反馈次优控制律,并利用扰动观测器解决了其物理可实现问题。该算法容易实现,计算工作量小,且对外部持续扰动有良好的鲁棒性。仿真结果说明了算法的有效性。